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Proof ANGLFIND (#192) (#339)

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cai 2018-05-28 21:41:56 +08:00 committed by James Harris
parent be9b33edb1
commit 624a548983
1 changed files with 16 additions and 16 deletions
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32
Comanche055/ANGLFIND.agc
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@ -249,7 +249,7 @@ OKU31 DLOAD BPL
MFISYM +10D # UY UZ
LOCSKIRT
DLOAD DCOMP
COF +2 # SIGN OF UY OPPOSITE TO UZ
COF +2 # SIGN OF UY OPPOSITE TO UZ
STORE COF +2
GOTO
LOCSKIRT
@ -272,7 +272,7 @@ MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
2,2
VDEF MXV* # DEFINE VECTOR M2(COL 2)
0,1
PDDL* PDDL* # M1XM2(COL2) IN PD
PDDL* PDDL* # M1XM2(COL 2) IN PD
16D,2
10D,2
PDDL* VDEF # DEFINE VECTOR M2(COL 3)
@ -281,7 +281,7 @@ MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
0,1
GOTO
TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
# RETURN WITH M1XM2 IN PD LIST
# RETURN WITH M1XM2 IN PD LIST
TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
0 # AND LEAVES RESULT IN PD LIST
@ -319,7 +319,7 @@ MAXANG DEC .472222
SD DEC .433015 # = SIN(D) $2
K3S1 DEC .86603 # = SIN(D) $2
K4 DEC -.25 # = -COS(D) $2
K4 DEC -.25 # = - COS(D) $2
K4SQ DEC .125 # = COS(D)COS(D) $2
SNGLCD DEC .008725 # = SIN(NGL)COS(D) $2
CNGL DEC .499695 # = COS(NGL) $2
@ -339,7 +339,7 @@ READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
OCT 3 # MATRIX RELATING S/C AXES TO STABLE
S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
OCT 1 # SET XR1, S1, AND PD FOR LOOP
OCT 1 # SET XR1, S1 AND PD FOR LOOP
STORE 7
SETPD
0
@ -427,7 +427,7 @@ ENDOCM EQUALS
SETLOC KALCMON1
BANK
# CALCULATION OF THE MATRIX DEL.......
# CALCULATION OF THE MATRIX DEL......
#
# * * --T *
# DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
@ -501,9 +501,9 @@ DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
DMP DMP
COF +4
4
SL1 PDDL # D6 UX UZ (1-COS A ) $ 4
SL1 PDDL # D6 UX UZ (1-COS A ) $ 4
COF +2
DMP PUSH # D8 UY SIN(A)
DMP PUSH # D8 UY SIN(A)
0
DAD SL2
6
@ -514,14 +514,14 @@ DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
BDSU SL2
BOVB
SIGNMPAC
STODL DEL +12D # UX UZ (U-COS(A))-UY SIGN(A)
STODL DEL +12D # UX UZ (U-COS(A))-UY SIN(A)
COF +2
DMP DMP
COF +4
4
SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
COF
DMP PUSH # D6 UX SIN(A)
DMP PUSH # D6 UX SIN(A)
0
DAD SL2
6
@ -531,7 +531,7 @@ DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
BDSU SL2
BOVB
SIGNMPAC
STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A)
STORE DEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
RVQ
# DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
@ -543,9 +543,9 @@ DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
#
# C =COS(THETA)COS(PSI)
# 0
# C =-COS(THETA)SIN(PSI)COS(PHI)+SIN(THETA)SIN(PHI)
# C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
# 1
# C =COS(THETA)SIN(PSI)SIN(PHI)+SIN(THETA)COS(PHI)
# C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
# 2
# C =SIN(PSI)
# 3
@ -555,7 +555,7 @@ DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
# 5
# C =-SIN(THETA)COS(PSI)
# 6
# C =SIN(THETA)SIN(PSI)COS(PHI)+COS(THETA)SIN(PHI)
# C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
# 7
# Page 410
# C =-SIN(THETA)SIN(PSI)SIN(PHI)+COS(THETA)COS(PHI)
@ -611,7 +611,7 @@ VECOFANG VDEF RVQ
NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
TC BANKCALL
CADR ZEROERROR
CADR ZEROEROR
NOGO INHINT
TC STOPRATE